From ac3c9655ec105a72a5b5575d1b2838f52f903cab Mon Sep 17 00:00:00 2001
From: Dante Ruiz <dante@highfidelity.io>
Date: Wed, 24 May 2017 01:28:08 +0100
Subject: [PATCH] added arms
---
.../resources/avatar/avatar-animation.json | 18 +++
interface/resources/controllers/standard.json | 4 +-
interface/resources/controllers/vive.json | 4 +-
interface/src/Application.cpp | 4 +
interface/src/avatar/MyAvatar.cpp | 42 +++++--
interface/src/avatar/MyAvatar.h | 10 ++
interface/src/avatar/MySkeletonModel.cpp | 20 ++++
libraries/animation/src/Rig.cpp | 11 ++
libraries/animation/src/Rig.h | 6 +
libraries/controllers/src/controllers/Input.h | 2 +-
plugins/openvr/src/ViveControllerManager.cpp | 112 ++++++++++++++----
plugins/openvr/src/ViveControllerManager.h | 17 ++-
12 files changed, 215 insertions(+), 35 deletions(-)
diff --git a/interface/resources/avatar/avatar-animation.json b/interface/resources/avatar/avatar-animation.json
index f88e322d99..7171d4c223 100644
--- a/interface/resources/avatar/avatar-animation.json
+++ b/interface/resources/avatar/avatar-animation.json
@@ -114,6 +114,24 @@
"weightVar": "headWeight",
"weight": 4.0,
"flexCoefficients": [1, 0.05, 0.25, 0.25, 0.25]
+ },
+ {
+ "jointName": "LeftArm",
+ "positionVar": "leftArmPosition",
+ "rotationVar": "leftArmRotation",
+ "typeVar": "leftArmType",
+ "weightVar": "leftArmWeight",
+ "weight": 1.0,
+ "flexCoefficients": [1, 0.5, 0.25, 0.0, 0.0, 0.0]
+ },
+ {
+ "jointName": "RightArm",
+ "positionVar": "rightArmPosition",
+ "rotationVar": "rightArmRotation",
+ "typeVar": "rightArmType",
+ "weightVar": "rightArmWeight",
+ "weight": 1.0,
+ "flexCoefficients": [1, 0.5, 0.25, 0.0, 0.0, 0.0]
}
]
},
diff --git a/interface/resources/controllers/standard.json b/interface/resources/controllers/standard.json
index 62eec9bc3c..75b4821118 100644
--- a/interface/resources/controllers/standard.json
+++ b/interface/resources/controllers/standard.json
@@ -66,6 +66,8 @@
{ "from": "Standard.Hips", "to": "Actions.Hips" },
{ "from": "Standard.Spine2", "to": "Actions.Spine2" },
- { "from": "Standard.Head", "to": "Actions.Head" }
+ { "from": "Standard.Head", "to": "Actions.Head" },
+ { "from": "Standard.LeftArm", "to": "Actions.LeftArm" },
+ { "from": "Standard.RightArm", "to": "Actions.RightArm" }
]
}
diff --git a/interface/resources/controllers/vive.json b/interface/resources/controllers/vive.json
index 4491507a9c..803914670c 100644
--- a/interface/resources/controllers/vive.json
+++ b/interface/resources/controllers/vive.json
@@ -40,6 +40,8 @@
{ "from": "Vive.RightFoot", "to" : "Standard.RightFoot", "when": [ "Application.InHMD"] },
{ "from": "Vive.Hips", "to" : "Standard.Hips", "when": [ "Application.InHMD"] },
{ "from": "Vive.Spine2", "to" : "Standard.Spine2", "when": [ "Application.InHMD"] },
- { "from": "Vive.Head", "to" : "Standard.Head", "when" : [ "Application.InHMD"] }
+ { "from": "Vive.Head", "to" : "Standard.Head", "when" : [ "Application.InHMD"] },
+ { "from": "Vive.RightArm", "to" : "Standard.RightArm", "when" : [ "Application.InHMD"] },
+ { "from": "Vive.LeftArm", "to" : "Standard.LeftArm", "when" : [ "Application.InHMD"] }
]
}
diff --git a/interface/src/Application.cpp b/interface/src/Application.cpp
index 3dfcbbe2c6..4f38877477 100644
--- a/interface/src/Application.cpp
+++ b/interface/src/Application.cpp
@@ -4427,6 +4427,10 @@ void Application::update(float deltaTime) {
controller::Pose headPose = userInputMapper->getPoseState(controller::Action::HEAD);
myAvatar->setHeadControllerPoseInSensorFrame(headPose.transform(avatarToSensorMatrix));
+ controller::Pose leftArmPose = userInputMapper->getPoseState(controller::Action::LEFT_ARM);
+ controller::Pose rightArmPose = userInputMapper->getPoseState(controller::Action::RIGHT_ARM);
+ myAvatar->setArmControllerPosesInSensorFrame(leftArmPose.transform(avatarToSensorMatrix), rightArmPose.transform(avatarToSensorMatrix));
+
updateThreads(deltaTime); // If running non-threaded, then give the threads some time to process...
updateDialogs(deltaTime); // update various stats dialogs if present
diff --git a/interface/src/avatar/MyAvatar.cpp b/interface/src/avatar/MyAvatar.cpp
index 647b7f6f05..9104111712 100755
--- a/interface/src/avatar/MyAvatar.cpp
+++ b/interface/src/avatar/MyAvatar.cpp
@@ -1479,6 +1479,37 @@ controller::Pose MyAvatar::getHeadControllerPoseInAvatarFrame() const {
return getHeadControllerPoseInWorldFrame().transform(invAvatarMatrix);
}
+void MyAvatar::setArmControllerPosesInSensorFrame(const controller::Pose& left, const controller::Pose& right) {
+ _leftArmControllerPoseInSensorFrameCache.set(left);
+ _rightArmControllerPoseInSensorFrameCache.set(right);
+}
+
+controller::Pose MyAvatar::getLeftArmControllerInSensorFrame() const {
+ return _leftArmControllerPoseInSensorFrameCache.get();
+}
+
+controller::Pose MyAvatar::getRightArmControllerInSensorFrame() const {
+ return _rightArmControllerPoseInSensorFrameCache.get();
+}
+
+controller::Pose MyAvatar::getLeftArmControllerInWorldFrame() const {
+ return getLeftArmControllerInSensorFrame().transform(getSensorToWorldMatrix());
+}
+
+controller::Pose MyAvatar::getRightArmControllerInWorldFrame() const {
+ return getRightArmControllerInSensorFrame().transform(getSensorToWorldMatrix());
+}
+
+controller::Pose MyAvatar::getLeftArmControllerInAvatarFrame() const {
+ glm::mat4 worldToAvatarMat = glm::inverse(createMatFromQuatAndPos(getOrientation(), getPosition()));
+ return getLeftArmControllerInWorldFrame().transform(worldToAvatarMat);
+}
+
+controller::Pose MyAvatar::getRightArmControllerInAvatarFrame() const {
+ glm::mat4 worldToAvatarMat = glm::inverse(createMatFromQuatAndPos(getOrientation(), getPosition()));
+ return getRightArmControllerInWorldFrame().transform(worldToAvatarMat);
+}
+
void MyAvatar::updateMotors() {
_characterController.clearMotors();
glm::quat motorRotation;
@@ -2794,7 +2825,7 @@ glm::mat4 MyAvatar::getRightFootCalibrationMat() const {
glm::mat4 MyAvatar::getRightArmCalibrationMat() const {
- int rightArmIndex = _rig->indexOfJoint("RightArm");
+ int rightArmIndex = _skeletonModel->getRig().indexOfJoint("RightArm");
if (rightArmIndex >= 0) {
auto rightArmPos = getAbsoluteDefaultJointTranslationInObjectFrame(rightArmIndex);
auto rightArmRot = getAbsoluteDefaultJointRotationInObjectFrame(rightArmIndex);
@@ -2805,8 +2836,7 @@ glm::mat4 MyAvatar::getRightArmCalibrationMat() const {
}
glm::mat4 MyAvatar::getLeftArmCalibrationMat() const {
- int leftArmIndex = _rig->indexOfJoint("LeftArm");
- auto skeleton = _rig->getAnimSkeleton();
+ int leftArmIndex = _skeletonModel->getRig().indexOfJoint("LeftArm");
if (leftArmIndex >= 0) {
auto leftArmPos = getAbsoluteDefaultJointTranslationInObjectFrame(leftArmIndex);
auto leftArmRot = getAbsoluteDefaultJointRotationInObjectFrame(leftArmIndex);
@@ -2817,8 +2847,7 @@ glm::mat4 MyAvatar::getLeftArmCalibrationMat() const {
}
glm::mat4 MyAvatar::getRightHandCalibrationMat() const {
- int rightHandIndex = _rig->indexOfJoint("RightHand");
- auto skeleton = _rig->getAnimSkeleton();
+ int rightHandIndex = _skeletonModel->getRig().indexOfJoint("RightHand");
if (rightHandIndex >= 0) {
auto rightHandPos = getAbsoluteDefaultJointTranslationInObjectFrame(rightHandIndex);
auto rightHandRot = getAbsoluteDefaultJointRotationInObjectFrame(rightHandIndex);
@@ -2829,8 +2858,7 @@ glm::mat4 MyAvatar::getRightHandCalibrationMat() const {
}
glm::mat4 MyAvatar::getLeftHandCalibrationMat() const {
- int leftHandIndex = _rig->indexOfJoint("LeftHand");
- auto skeleton = _rig->getAnimSkeleton();
+ int leftHandIndex = _skeletonModel->getRig().indexOfJoint("LeftHand");
if (leftHandIndex >= 0) {
auto leftHandPos = getAbsoluteDefaultJointTranslationInObjectFrame(leftHandIndex);
auto leftHandRot = getAbsoluteDefaultJointRotationInObjectFrame(leftHandIndex);
diff --git a/interface/src/avatar/MyAvatar.h b/interface/src/avatar/MyAvatar.h
index f896518b08..9bbdbd7b23 100644
--- a/interface/src/avatar/MyAvatar.h
+++ b/interface/src/avatar/MyAvatar.h
@@ -471,6 +471,14 @@ public:
controller::Pose getHeadControllerPoseInWorldFrame() const;
controller::Pose getHeadControllerPoseInAvatarFrame() const;
+ void setArmControllerPosesInSensorFrame(const controller::Pose& left, const controller::Pose& right);
+ controller::Pose getLeftArmControllerInSensorFrame() const;
+ controller::Pose getRightArmControllerInSensorFrame() const;
+ controller::Pose getLeftArmControllerInWorldFrame() const;
+ controller::Pose getRightArmControllerInWorldFrame() const;
+ controller::Pose getLeftArmControllerInAvatarFrame() const;
+ controller::Pose getRightArmControllerInAvatarFrame() const;
+
bool hasDriveInput() const;
Q_INVOKABLE void setCollisionsEnabled(bool enabled);
@@ -741,6 +749,8 @@ private:
ThreadSafeValueCache<controller::Pose> _hipsControllerPoseInSensorFrameCache{ controller::Pose() };
ThreadSafeValueCache<controller::Pose> _spine2ControllerPoseInSensorFrameCache{ controller::Pose() };
ThreadSafeValueCache<controller::Pose> _headControllerPoseInSensorFrameCache{ controller::Pose() };
+ ThreadSafeValueCache<controller::Pose> _leftArmControllerPoseInSensorFrameCache{ controller::Pose() };
+ ThreadSafeValueCache<controller::Pose> _rightArmControllerPoseInSensorFrameCache{ controller::Pose() };
bool _hmdLeanRecenterEnabled = true;
diff --git a/interface/src/avatar/MySkeletonModel.cpp b/interface/src/avatar/MySkeletonModel.cpp
index 828a5f8a01..ea97e3d0fe 100644
--- a/interface/src/avatar/MySkeletonModel.cpp
+++ b/interface/src/avatar/MySkeletonModel.cpp
@@ -92,6 +92,26 @@ void MySkeletonModel::updateRig(float deltaTime, glm::mat4 parentTransform) {
headParams.spine2Enabled = false;
}
+ auto avatarRightArmPose = myAvatar->getRightArmControllerInAvatarFrame();
+ if (avatarRightArmPose.isValid()) {
+ glm::mat4 rightArmMat = Matrices::Y_180 * createMatFromQuatAndPos(avatarRightArmPose.getRotation(), avatarRightArmPose.getTranslation());
+ headParams.rightArmPosition = extractTranslation(rightArmMat);
+ headParams.rightArmRotation = glmExtractRotation(rightArmMat);
+ headParams.rightArmEnabled = true;
+ } else {
+ headParams.rightArmEnabled = false;
+ }
+
+ auto avatarLeftArmPose = myAvatar->getLeftArmControllerInAvatarFrame();
+ if (avatarLeftArmPose.isValid()) {
+ glm::mat4 leftArmMat = Matrices::Y_180 * createMatFromQuatAndPos(avatarLeftArmPose.getRotation(), avatarLeftArmPose.getTranslation());
+ headParams.leftArmPosition = extractTranslation(leftArmMat);
+ headParams.leftArmRotation = glmExtractRotation(leftArmMat);
+ headParams.leftArmEnabled = true;
+ } else {
+ headParams.leftArmEnabled = false;
+ }
+
headParams.isTalking = head->getTimeWithoutTalking() <= 1.5f;
_rig.updateFromHeadParameters(headParams, deltaTime);
diff --git a/libraries/animation/src/Rig.cpp b/libraries/animation/src/Rig.cpp
index 99d2deb323..c74b8c478b 100644
--- a/libraries/animation/src/Rig.cpp
+++ b/libraries/animation/src/Rig.cpp
@@ -1047,6 +1047,17 @@ void Rig::updateFromHeadParameters(const HeadParameters& params, float dt) {
} else {
_animVars.set("spine2Type", (int)IKTarget::Type::Unknown);
}
+
+ if (params.leftArmEnabled) {
+
+ } else {
+ _animVars.set("leftArmType", (int)IKTarget::Type::Unknown);
+ }
+
+ if (params.rightArmEnabled) {
+ } else {
+ _animVars.set("rightArmType", (int)IKTarget::Type::Unknown);
+ }
}
void Rig::updateFromEyeParameters(const EyeParameters& params) {
diff --git a/libraries/animation/src/Rig.h b/libraries/animation/src/Rig.h
index 18780d6e64..c9d52d8c72 100644
--- a/libraries/animation/src/Rig.h
+++ b/libraries/animation/src/Rig.h
@@ -46,9 +46,15 @@ public:
glm::mat4 spine2Matrix = glm::mat4(); // rig space
glm::quat rigHeadOrientation = glm::quat(); // rig space (-z forward)
glm::vec3 rigHeadPosition = glm::vec3(); // rig space
+ glm::vec3 rightArmPosition = glm::vec3(); // rig space
+ glm::quat rightArmRotation = glm::quat(); // rig space
+ glm::vec3 leftArmPosition = glm::vec3(); // rig space
+ glm::quat leftArmRotation = glm::quat(); // rig space
bool hipsEnabled = false;
bool headEnabled = false;
bool spine2Enabled = false;
+ bool leftArmEnabled = false;
+ bool rightArmEnabled = false;
bool isTalking = false;
};
diff --git a/libraries/controllers/src/controllers/Input.h b/libraries/controllers/src/controllers/Input.h
index 7780e91769..b74ad48c6f 100644
--- a/libraries/controllers/src/controllers/Input.h
+++ b/libraries/controllers/src/controllers/Input.h
@@ -25,7 +25,7 @@ struct InputCalibrationData {
glm::mat4 defaultHips; // default pose for hips joint in avatar space
glm::mat4 defaultLeftFoot; // default pose for leftFoot joint in avatar space
glm::mat4 defaultRightFoot; // default pose for rightFoot joint in avatar space
- glm::mat4 defaultRigtArm; // default pose for rightArm joint in avatar space
+ glm::mat4 defaultRightArm; // default pose for rightArm joint in avatar space
glm::mat4 defaultLeftArm; // default pose for leftArm joint in avatar space
glm::mat4 defaultRightHand; // default pose for rightHand joint in avatar space
glm::mat4 defaultLeftHand; // default pose for leftHand joint in avatar space
diff --git a/plugins/openvr/src/ViveControllerManager.cpp b/plugins/openvr/src/ViveControllerManager.cpp
index 8fa6f8b9f6..5e509f43b8 100644
--- a/plugins/openvr/src/ViveControllerManager.cpp
+++ b/plugins/openvr/src/ViveControllerManager.cpp
@@ -33,6 +33,7 @@
#include <controllers/StandardControls.h>
+
extern PoseData _nextSimPoseData;
vr::IVRSystem* acquireOpenVrSystem();
@@ -73,10 +74,14 @@ static glm::mat4 computeOffset(glm::mat4 defaultToReferenceMat, glm::mat4 defaul
return glm::inverse(poseMat) * referenceJointMat;
}
-static bool sortPucksYPosition(std::pair<uint32_t, controller::Pose> firstPuck, std::pair<uint32_t, controller::Pose> secondPuck) {
+static bool sortPucksYPosition(PuckPosePair firstPuck, PuckPosePair secondPuck) {
return (firstPuck.second.translation.y < secondPuck.second.translation.y);
}
+static bool sortPucksXPosition(PuckPosePair firstPuck, PuckPosePair secondPuck) {
+ return (firstPuck.second.translation.x < secondPuck.second.translation.x);
+}
+
static QString deviceTrackingResultToString(vr::ETrackingResult trackingResult) {
QString result;
auto iterator = TRACKING_RESULT_TO_STRING.find(trackingResult);
@@ -172,6 +177,8 @@ ViveControllerManager::InputDevice::InputDevice(vr::IVRSystem*& system) : contro
_configStringMap[Config::Feet] = QString("Feet");
_configStringMap[Config::FeetAndHips] = QString("FeetAndHips");
_configStringMap[Config::FeetHipsAndChest] = QString("FeetHipsAndChest");
+ _configStringMap[Config::FeetHipsAndShoulders] = QString("FeetHipsAndShoulders");
+ _configStringMap[Config::FeetAndShoulders] = QString("FeetAndShoulders");
}
void ViveControllerManager::InputDevice::update(float deltaTime, const controller::InputCalibrationData& inputCalibrationData) {
@@ -334,31 +341,25 @@ void ViveControllerManager::InputDevice::calibrate(const controller::InputCalibr
std::sort(_validTrackedObjects.begin(), _validTrackedObjects.end(), sortPucksYPosition);
if (_config == Config::Feet) {
- auto& firstFoot = _validTrackedObjects[FIRST_FOOT];
- auto& secondFoot = _validTrackedObjects[SECOND_FOOT];
- controller::Pose& firstFootPose = firstFoot.second;
- controller::Pose& secondFootPose = secondFoot.second;
-
- if (firstFootPose.translation.x < secondFootPose.translation.x) {
- _jointToPuckMap[controller::LEFT_FOOT] = firstFoot.first;
- _pucksOffset[firstFoot.first] = computeOffset(defaultToReferenceMat, inputCalibration.defaultLeftFoot, firstFootPose);
- _jointToPuckMap[controller::RIGHT_FOOT] = secondFoot.first;
- _pucksOffset[secondFoot.first] = computeOffset(defaultToReferenceMat, inputCalibration.defaultRightFoot, secondFootPose);
- } else {
- _jointToPuckMap[controller::LEFT_FOOT] = secondFoot.first;
- _pucksOffset[secondFoot.first] = computeOffset(defaultToReferenceMat, inputCalibration.defaultLeftFoot, secondFootPose);
- _jointToPuckMap[controller::RIGHT_FOOT] = firstFoot.first;
- _pucksOffset[firstFoot.first] = computeOffset(defaultToReferenceMat, inputCalibration.defaultRightFoot, firstFootPose);
- }
+ calibrateFeet(defaultToReferenceMat, inputCalibration);
+ } else if (_config == Config::FeetAndShoulders && puckCount >= MIN_FEET_HIPS_CHEST) {
+ calibrateFeet(defaultToReferenceMat, inputCalibration);
+ int firstShoulder = 2;
+ int secondShoulder = 3;
+ calibrateShoulders(defaultToReferenceMat, inputCalibration, firstShoulder, secondShoulder);
} else if (_config == Config::FeetAndHips && puckCount >= MIN_FEET_AND_HIPS) {
- _jointToPuckMap[controller::HIPS] = _validTrackedObjects[HIP].first;
- _pucksOffset[_validTrackedObjects[HIP].first] = computeOffset(defaultToReferenceMat, inputCalibration.defaultHips, _validTrackedObjects[HIP].second);
+ calibrateFeet(defaultToReferenceMat, inputCalibration);
+ calibrateHips(defaultToReferenceMat, inputCalibration);
} else if (_config == Config::FeetHipsAndChest && puckCount >= MIN_FEET_HIPS_CHEST) {
- _jointToPuckMap[controller::HIPS] = _validTrackedObjects[HIP].first;
- _pucksOffset[_validTrackedObjects[HIP].first] = computeOffset(defaultToReferenceMat, inputCalibration.defaultHips, _validTrackedObjects[HIP].second);
- _jointToPuckMap[controller::SPINE2] = _validTrackedObjects[CHEST].first;
- _pucksOffset[_validTrackedObjects[CHEST].first] = computeOffset(defaultToReferenceMat, inputCalibration.defaultSpine2, _validTrackedObjects[CHEST].second);
+ calibrateFeet(defaultToReferenceMat, inputCalibration);
+ calibrateHips(defaultToReferenceMat, inputCalibration);
+ calibrateChest(defaultToReferenceMat, inputCalibration);
} else if (_config == Config::FeetHipsAndShoulders && puckCount >= MIN_FEET_HIPS_SHOULDERS){
+ calibrateFeet(defaultToReferenceMat, inputCalibration);
+ calibrateHips(defaultToReferenceMat, inputCalibration);
+ int firstShoulderIndex = 3;
+ int secondShoulderIndex = 4;
+ calibrateShoulders(defaultToReferenceMat, inputCalibration, firstShoulderIndex, secondShoulderIndex);
} else {
qDebug() << "Puck Calibration: " << configToString(_config) << " Config Failed: Could not meet the minimal # of pucks";
uncalibrate();
@@ -615,6 +616,65 @@ void ViveControllerManager::InputDevice::hapticsHelper(float deltaTime, bool lef
}
}
+void ViveControllerManager::InputDevice::calibrateFeet(glm::mat4& defaultToReferenceMat, const controller::InputCalibrationData& inputCalibration) {
+ auto& firstFoot = _validTrackedObjects[FIRST_FOOT];
+ auto& secondFoot = _validTrackedObjects[SECOND_FOOT];
+ controller::Pose& firstFootPose = firstFoot.second;
+ controller::Pose& secondFootPose = secondFoot.second;
+
+ if (firstFootPose.translation.x < secondFootPose.translation.x) {
+ _jointToPuckMap[controller::LEFT_FOOT] = firstFoot.first;
+ _pucksOffset[firstFoot.first] = computeOffset(defaultToReferenceMat, inputCalibration.defaultLeftFoot, firstFootPose);
+ _jointToPuckMap[controller::RIGHT_FOOT] = secondFoot.first;
+ _pucksOffset[secondFoot.first] = computeOffset(defaultToReferenceMat, inputCalibration.defaultRightFoot, secondFootPose);
+ } else {
+ _jointToPuckMap[controller::LEFT_FOOT] = secondFoot.first;
+ _pucksOffset[secondFoot.first] = computeOffset(defaultToReferenceMat, inputCalibration.defaultLeftFoot, secondFootPose);
+ _jointToPuckMap[controller::RIGHT_FOOT] = firstFoot.first;
+ _pucksOffset[firstFoot.first] = computeOffset(defaultToReferenceMat, inputCalibration.defaultRightFoot, firstFootPose);
+ }
+}
+
+void ViveControllerManager::InputDevice::calibrateHips(glm::mat4& defaultToReferenceMat, const controller::InputCalibrationData& inputCalibration) {
+ _jointToPuckMap[controller::HIPS] = _validTrackedObjects[HIP].first;
+ _pucksOffset[_validTrackedObjects[HIP].first] = computeOffset(defaultToReferenceMat, inputCalibration.defaultHips, _validTrackedObjects[HIP].second);
+}
+
+void ViveControllerManager::InputDevice::calibrateChest(glm::mat4& defaultToReferenceMat, const controller::InputCalibrationData& inputCalibration) {
+ _jointToPuckMap[controller::SPINE2] = _validTrackedObjects[CHEST].first;
+ _pucksOffset[_validTrackedObjects[CHEST].first] = computeOffset(defaultToReferenceMat, inputCalibration.defaultSpine2, _validTrackedObjects[CHEST].second);
+}
+
+void ViveControllerManager::InputDevice::calibrateShoulders(glm::mat4& defaultToReferenceMat, const controller::InputCalibrationData& inputCalibration,
+ int firstShoulderIndex, int secondShoulderIndex) {
+ qDebug() << "calibrate shoulders";
+ const PuckPosePair& firstShoulder = _validTrackedObjects[firstShoulderIndex];
+ const PuckPosePair& secondShoulder = _validTrackedObjects[secondShoulderIndex];
+ const controller::Pose& firstShoulderPose = firstShoulder.second;
+ const controller::Pose& secondShoulderPose = secondShoulder.second;
+
+ if (firstShoulderPose.translation.x < secondShoulderPose.translation.x) {
+ _jointToPuckMap[controller::LEFT_ARM] = firstShoulder.first;
+ _pucksOffset[firstShoulder.first] = computeOffset(defaultToReferenceMat, inputCalibration.defaultLeftArm, firstShoulder.second);
+ _jointToPuckMap[controller::RIGHT_ARM] = secondShoulder.first;
+ _pucksOffset[secondShoulder.first] = computeOffset(defaultToReferenceMat, inputCalibration.defaultRightArm, secondShoulder.second);
+ } else {
+ _jointToPuckMap[controller::LEFT_ARM] = secondShoulder.first;
+ _pucksOffset[secondShoulder.first] = computeOffset(defaultToReferenceMat, inputCalibration.defaultLeftArm, secondShoulder.second);
+ _jointToPuckMap[controller::RIGHT_ARM] = firstShoulder.first;
+ _pucksOffset[firstShoulder.first] = computeOffset(defaultToReferenceMat, inputCalibration.defaultRightArm, firstShoulder.second);
+ }
+}
+
+void ViveControllerManager::InputDevice::calibrateHands(glm::mat4& defaultToReferenceMat, const controller::InputCalibrationData& inputCalibration,
+ PuckPosePair firstHand, PuckPosePair secondHand) {
+}
+
+void ViveControllerManager::InputDevice::calibrateHead(glm::mat4& defaultToReferenceMat, const controller::InputCalibrationData& inputCalibration) {
+ int headIndex = _validTrackedObjects.size() - 1;
+}
+
+
void ViveControllerManager::InputDevice::loadSettings() {
Settings settings;
settings.beginGroup("PUCK_CONFIG");
@@ -646,6 +706,10 @@ void ViveControllerManager::InputDevice::setConfigFromString(const QString& valu
_preferedConfig = Config::FeetAndHips;
} else if (value == "FeetHipsAndChest") {
_preferedConfig = Config::FeetHipsAndChest;
+ } else if (value == "FeetHipsAndShoulders") {
+ _preferedConfig = Config::FeetHipsAndShoulders;
+ } else if (value == "FeetAndShoulders") {
+ _preferedConfig = Config::FeetAndShoulders;
}
}
@@ -658,7 +722,7 @@ void ViveControllerManager::InputDevice::createPreferences() {
auto getter = [this]()->QString { return _configStringMap[_preferedConfig]; };
auto setter = [this](const QString& value) { setConfigFromString(value); saveSettings(); };
auto preference = new ComboBoxPreference(VIVE_PUCKS_CONFIG, "Configuration", getter, setter);
- QStringList list = (QStringList() << "Auto" << "Feet" << "FeetAndHips" << "FeetHipsAndChest");
+ QStringList list = (QStringList() << "Auto" << "Feet" << "FeetAndHips" << "FeetHipsAndChest" << "FeetAndShoulders");
preference->setItems(list);
preferences->addPreference(preference);
diff --git a/plugins/openvr/src/ViveControllerManager.h b/plugins/openvr/src/ViveControllerManager.h
index 186917de51..1fd11ccfe6 100644
--- a/plugins/openvr/src/ViveControllerManager.h
+++ b/plugins/openvr/src/ViveControllerManager.h
@@ -27,6 +27,8 @@
#include <render/Scene.h>
#include "OpenVrHelpers.h"
+using PuckPosePair = std::pair<uint32_t, controller::Pose>;
+
namespace vr {
class IVRSystem;
}
@@ -104,10 +106,12 @@ private:
};
enum class Config {
Auto,
+ Head,
Feet,
Hands,
Shoulders,
FeetAndHips,
+ FeetAndShoulders,
FeetHipsAndChest,
FeetHipsAndShoulders,
FeetHipsChestAndHands,
@@ -118,7 +122,7 @@ private:
FilteredStick _filteredLeftStick;
FilteredStick _filteredRightStick;
- std::vector<std::pair<uint32_t, controller::Pose>> _validTrackedObjects;
+ std::vector<PuckPosePair> _validTrackedObjects;
std::map<uint32_t, glm::mat4> _pucksOffset;
std::map<int, uint32_t> _jointToPuckMap;
std::map<Config, QString> _configStringMap;
@@ -145,6 +149,17 @@ private:
void setConfigFromString(const QString& value);
void loadSettings();
void saveSettings() const;
+ void calibrateFeet(glm::mat4& defaultToReferenceMat, const controller::InputCalibrationData& inputCalibration);
+ void calibrateHips(glm::mat4& defaultToReferenceMat, const controller::InputCalibrationData& inputCalibration);
+ void calibrateChest(glm::mat4& defaultToReferenceMat, const controller::InputCalibrationData& inputCalibration);
+
+ void calibrateHands(glm::mat4& defaultToReferenceMat, const controller::InputCalibrationData& inputCalibration,
+ PuckPosePair firstHand, PuckPosePair secondHand);
+
+ void calibrateShoulders(glm::mat4& defaultToReferenceMat, const controller::InputCalibrationData& inputCalibration,
+ int firstShoulderIndex, int secondShoulderIndex);
+
+ void calibrateHead(glm::mat4& defaultToReferenceMat, const controller::InputCalibrationData& inputCalibration);
friend class ViveControllerManager;
};